SPURS2 Aug16 * SG220 * Dive index * Mission links * Dive 257 * Raw log
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• Previous call tries 1 • 98.50 of 350.00 AH used of 24V (71.86% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.9 deg, depth -4.13 m • Intended pitch -17.6 deg, speed -7.750 cm/s
• VBD pumped to 500.14 (SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 2 s • Transponder ping count: 2
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
11 end surface: CONTROL_FINISHED_OK
11 begin dive
14 - - - 90 done -0.93 - - 214 - - - 2776 - -107.1 -75.45 - 3481 - - - - - - - - 14.66 12.83 14.66
93 -2.4 -5.2 2 113 roll -0.93 11.55 0.391 2583 205.1 1.90 0.081 3823 551.1 -107.1 - - 3479 - - - - - - - - 14.07 14.35 14.43
342 74.4 -16.6 39 349 done -0.56 0.47 0.239 2710 270.2 1.80 0.037 2746 -598.3 -107.1 - - 3481 - - - - - - - - 14.18 14.57 14.43
672 99.4 -6.8 53 678 roll -0.56 - - 2702 - 2.03 0.102 3818 528.1 -107.1 - - 3483 - - - - - - - - 14.85 14.35 14.85
902 117.8 -12.6 86 908 done -0.56 - - 2702 - 1.77 0.040 2756 -600.0 -107.1 - - 3483 - - - - - - - - 14.69 14.65 14.71
1232 143.1 -7.6 98 1232 done -0.56 - - 2702 - - - 2756 - -107.1 - - 3482 - - - - - - - - 14.91 14.92 14.92
1567 169.7 -7.9 104 1568 done -0.56 - - 2701 - - - 2756 - -107.1 - - 3482 - - - - - - - - 14.93 14.93 14.93
1904 196.4 -8.0 110 1909 roll -0.56 - - 2702 - 2.33 0.044 1391 -585.8 -107.1 - - 3477 - - - - - - - - 14.93 14.53 14.91
1931 198.6 -8.1 114 1937 done -0.56 - - 2693 - 2.45 0.067 2759 558.4 -107.1 - - 3477 - - - - - - - - 14.62 14.51 14.64
2296 229.1 -8.5 124 2297 done -0.56 - - 2693 - - - 2759 - -107.1 - - 3474 - - - - - - - - 14.95 14.92 14.93
2632 257.4 -8.4 130 2632 done -0.56 - - 2693 - - - 2759 - -107.1 - - 3472 - - - - - - - - 14.96 14.96 14.96
2968 283.2 -7.6 136 2973 roll -0.56 - - 2692 - 2.38 0.044 1391 -574.8 -107.1 - - 3470 - - - - - - - - 14.95 14.52 14.94
3024 287.3 -7.2 144 3030 done -0.56 0.10 0.210 2712 200.0 2.45 0.068 2755 556.7 -107.1 - - 3468 - - - - - - - - 14.27 14.44 14.43
3360 308.8 -6.3 157 3361 done -0.64 - - 2712 - - - 2754 - -107.1 - - 3467 - - - - - - - - 14.95 14.94 14.95
3696 330.5 -6.5 163 3702 roll -0.71 0.08 0.142 2648 -800.0 2.35 0.044 1395 -578.3 -107.1 - - 3465 - - - - - - - - 14.65 14.51 14.71
3744 334.6 -8.8 170 3752 done -0.71 - - 2636 - 2.45 0.067 2755 555.1 -107.1 - - 3464 - - - - - - - - 14.54 14.46 14.59
4088 368.1 -10.0 177 4095 roll -0.71 - - 2631 - 2.03 0.108 3824 526.6 -107.1 - - 3461 - - - - - - - - 14.93 14.35 14.94
4284 388.9 -10.5 205 4291 done -0.71 0.10 0.217 2660 290.0 1.77 0.044 2781 -589.3 -107.1 - - 3461 - - - - - - - - 14.24 14.61 14.42
4647 422.4 -9.2 215 4653 roll -0.71 - - 2661 - 2.42 0.046 1378 -579.8 -107.1 - - 3460 - - - - - - - - 14.91 14.45 14.91
4731 430.3 -9.2 227 4737 done -0.71 - - 2651 - 2.53 0.067 2765 548.2 -107.1 - - 3459 - - - - - - - - 14.57 14.45 14.59
5096 465.4 -9.7 237 5102 roll -0.71 - - 2643 - 2.00 0.109 3820 527.5 -107.1 - - 3458 - - - - - - - - 14.96 14.32 14.96
5193 475.1 -9.9 251 5199 done -0.71 - - 2641 - 1.83 0.042 2749 -585.2 -107.1 - - 3457 - - - - - - - - 14.71 14.66 14.73
5543 508.4 -9.5 259 5549 roll -0.71 - - 2642 - 2.35 0.044 1389 -578.7 -107.1 - - 3455 - - - - - - - - 14.93 14.46 14.93
5571 511.1 -9.8 263 5578 done -0.71 0.10 0.224 2661 190.0 2.50 0.067 2770 552.4 -107.1 - - 3455 - - - - - - - - 14.21 14.46 14.38
5936 542.3 -8.4 273 5942 roll -0.71 - - 2662 - 2.42 0.044 1379 -574.8 -107.1 - - 3453 - - - - - - - - 14.95 14.46 14.95
5963 544.7 -8.6 277 5970 done -0.71 - - 2651 - 2.50 0.068 2761 552.8 -107.1 - - 3454 - - - - - - - - 14.47 14.39 14.54
6328 576.4 -8.6 287 6334 roll -0.71 - - 2652 - 2.40 0.044 1386 -572.9 -107.1 - - 3452 - - - - - - - - 14.92 14.45 14.92
6397 582.4 -8.6 297 6404 done -0.71 - - 2642 - 2.50 0.067 2760 549.6 -107.1 - - 3451 - - - - - - - - 14.53 14.43 14.57
6720 610.8 -8.9 308 6725 roll -0.71 - - 2634 - 2.03 0.109 3828 526.1 -107.1 - - 3450 - - - - - - - - 14.92 14.28 14.92
6789 617.3 -9.4 318 6795 done -0.71 0.12 0.230 2669 291.7 1.83 0.043 2768 -579.2 -107.1 - - 3450 - - - - - - - - 14.19 14.57 14.44
7112 643.1 -8.0 329 7118 roll -0.71 - - 2650 - 2.42 0.044 1372 -576.9 -107.1 - - 3448 - - - - - - - - 14.92 14.42 14.92
7188 649.6 -8.4 340 7194 done -0.71 - - 2640 - 2.53 0.066 2766 551.0 -107.1 - - 3448 - - - - - - - - 14.47 14.38 14.51
7504 676.8 -8.6 350 7505 done -0.71 - - 2636 - - - 2766 - -107.1 - - 3447 - - - - - - - - 14.93 14.92 14.93
7840 705.0 -8.3 356 7840 done -0.71 - - 2640 - - - 2766 - -107.1 - - 3446 - - - - - - - - 14.94 14.94 14.94
8176 731.8 -8.0 362 8181 roll -0.71 - - 2640 - 2.45 0.044 1375 -567.8 -107.1 - - 3445 - - - - - - - - 14.91 14.40 14.91
8245 737.3 -7.8 372 8252 done -0.71 0.10 0.230 2659 190.0 2.53 0.067 2762 548.2 -107.1 - - 3444 - - - - - - - - 14.11 14.35 14.29
8568 759.7 -6.9 383 8569 done -0.71 - - 2659 - - - 2762 - -107.1 - - 3444 - - - - - - - - 14.92 14.92 14.92
8904 782.4 -6.8 389 8910 roll -0.71 - - 2659 - 2.42 0.044 1382 -570.2 -107.1 - - 3442 - - - - - - - - 14.93 14.38 14.93
8960 786.5 -7.6 397 8966 done -0.71 - - 2650 - 2.50 0.069 2751 547.6 -107.1 - - 3442 - - - - - - - - 14.40 14.31 14.45
9296 810.0 -7.0 410 9297 done -0.71 - - 2650 - - - 2750 - -107.1 - - 3442 - - - - - - - - 14.92 14.92 14.92
9632 833.8 -7.2 416 9632 done -0.71 - - 2650 - - - 2750 - -107.1 - - 3441 - - - - - - - - 14.90 14.90 14.90
9968 856.9 -6.8 422 9973 roll -0.71 - - 2649 - 2.42 0.045 1379 -566.5 -107.1 - - 3444 - - - - - - - - 14.90 14.30 14.90
10016 860.4 -7.2 429 10025 done -0.71 - - 2640 - 2.50 0.069 2753 549.6 -107.1 - - 3439 - - - - - - - - 14.40 14.30 14.45
10360 886.1 -7.6 436 10361 done -0.71 - - 2640 - - - 2753 - -107.1 - - 3439 - - - - - - - - 14.89 14.89 14.90
10696 912.8 -7.9 442 10696 done -0.71 - - 2640 - - - 2753 - -107.1 - - 3437 - - - - - - - - 14.89 14.89 14.89
10918 end dive: TARGET_DEPTH_EXCEEDED
10918 begin apogee
10924 931.0 -8.1 446 11034 roll -0.23 0.62 0.182 2822 293.5 - - 2228 - - 108.22 1.953 3049 -3.6 0.335 - - - - - - 14.18 14.01 13.21
11036 end apogee: CONTROL_FINISHED_OK
11036 begin climb
11038 935.1 - 448 11166 roll 0.93 1.12 0.094 3185 324.1 2.42 0.057 881 -556.6 107.1 115.75 1.939 2616 -3.7 0.353 - - - - - - 13.99 14.00 13.01
11192 929.4 8.2 471 11200 done 0.79 0.10 0.222 3159 -260.0 2.53 0.052 2253 542.3 107.1 - - 2610 - - - - - - - - 13.75 13.87 13.88
11536 903.3 7.9 478 11542 roll 0.68 0.12 0.241 3123 -300.0 2.65 0.099 3651 527.5 107.1 - - 2606 - - - - - - - - 14.09 14.19 14.35
11655 893.8 7.8 495 11661 done 0.57 0.17 0.226 3086 -217.6 2.38 0.041 2259 -584.9 107.1 - - 2606 - - - - - - - - 14.12 14.42 14.38
11984 873.3 6.3 507 12019 roll 0.60 - - 3086 - 2.70 0.099 3654 516.7 136.5 30.98 1.933 2501 -3.4 0.300 - - - - - - 14.75 14.26 13.54
12039 869.2 9.2 515 12045 done 0.60 - - 3096 - 2.47 0.041 2256 -566.0 136.5 - - 2496 - - - - - - - - 14.38 14.33 14.39
12369 844.6 7.5 527 12374 roll 0.61 - - 3095 - 2.65 0.101 3656 528.3 140.6 - - 2494 - - - - - - - - 14.70 14.28 14.70
12425 839.5 8.7 535 12431 done 0.61 - - 3106 - 2.45 0.041 2256 -571.4 140.6 0.45 0.290 2488 -13.3 7.557 - - - - - - 14.45 14.40 14.22
12761 813.2 7.7 548 12762 done 0.61 - - 3106 - - - 2254 - 140.8 - - 2491 - - - - - - - - 14.77 14.77 14.77
13097 788.5 7.4 554 13116 roll 0.62 - - 3107 - 2.67 0.100 3651 523.2 148.8 12.20 2.072 2450 -3.4 0.250 - - - - - - 14.83 14.47 13.72
13166 782.6 8.6 564 13172 done 0.62 - - 3116 - 2.45 0.041 2256 -569.4 148.8 - - 2445 - - - - - - - - 14.53 14.47 14.54
13489 758.1 7.5 575 13490 done 0.62 - - 3117 - - - 2254 - 152.9 - - 2447 - - - - - - - - 14.77 14.78 14.78
13825 732.4 7.6 581 13832 roll 0.63 - - 3116 - 2.65 0.099 3660 530.6 155.0 1.65 0.265 2436 -6.7 3.607 - - - - - - 14.83 14.24 13.93
13894 726.4 8.3 591 13901 done 0.63 - - 3127 - 2.45 0.041 2258 -572.2 155.0 1.42 0.231 2435 - - - - - - - - 14.57 14.51 14.07
14217 701.2 7.8 602 14219 done 0.63 - - 3127 - - - 2258 - 155.0 1.27 0.262 2433 - - - - - - - - 14.85 14.45 14.14
14553 674.8 7.9 608 14559 roll 0.63 - - 3127 - 2.65 0.099 3660 529.1 155.0 1.40 0.260 2434 - - - - - - - - 14.88 14.33 14.08
14608 669.7 9.0 616 14615 done 0.63 0.10 0.215 3109 -180.0 2.42 0.041 2266 -576.0 155.0 1.27 0.230 2433 - - - - - - - - 14.16 14.47 14.15
14946 645.3 7.1 629 14972 roll 0.64 - - 3109 - 2.60 0.100 3659 535.8 167.7 21.65 1.826 2375 -2.7 0.185 - - - - - - 14.85 14.40 13.76
15021 638.2 12.6 640 15028 done 0.64 - - 3118 - 2.45 0.041 2259 -571.4 167.7 - - 2371 - - - - - - - - 14.52 14.45 14.54
15337 616.5 6.4 650 15370 done 0.68 - - 3117 - - - 2263 - 195.6 31.75 1.719 2268 -3.2 0.228 - - - - - - 14.76 14.35 13.64
15673 593.0 7.3 656 15679 roll 0.69 - - 3117 - 2.65 0.099 3657 526.0 204.3 1.85 0.275 2242 -14.1 5.934 - - - - - - 14.68 14.14 13.74
15742 587.1 8.7 666 15749 done 0.69 - - 3128 - 2.42 0.041 2274 -571.5 204.3 2.30 0.664 2236 -2.6 0.452 - - - - - - 14.44 14.40 13.14
16065 560.1 8.5 677 16072 roll 0.69 - - 3138 - 2.47 0.063 859 -572.9 204.3 1.73 0.269 2238 - - - - - - - - 14.76 14.20 13.85
16120 555.0 9.1 685 16128 done 0.69 - - 3138 - 2.50 0.055 2267 563.2 204.3 1.00 0.236 2236 - - - - - - - - 14.42 14.35 14.18
16457 523.1 9.6 698 16463 roll 0.69 - - 3138 - 2.58 0.100 3653 537.2 204.3 1.55 0.257 2240 2.6 -1.028 - - - - - - 14.80 14.26 14.00
16505 517.9 10.6 705 16514 done 0.69 - - 3149 - 2.42 0.041 2266 -573.1 204.3 1.55 0.262 2238 - - - - - - - - 14.59 14.50 14.02
16849 485.1 9.6 712 16851 done 0.69 - - 3149 - - - 2265 - 204.3 1.55 0.255 2236 - - - - - - - - 14.81 14.40 14.04
17185 455.2 8.7 718 17191 roll 0.69 - - 3149 - 2.62 0.101 3656 530.9 204.3 1.02 0.272 2239 2.9 -0.964 - - - - - - 14.83 14.33 14.19
17233 450.5 9.9 725 17242 done 0.69 0.10 0.249 3126 -230.0 2.42 0.041 2266 -574.4 204.3 1.20 0.239 2237 - - - - - - - - 14.16 14.52 14.09
17577 423.3 7.8 732 17583 roll 0.69 - - 3134 - 2.45 0.060 865 -571.8 204.3 1.50 0.256 2238 - - - - - - - - 14.86 14.28 14.02
17604 421.1 7.8 736 17611 done 0.69 - - 3130 - 2.50 0.055 2278 565.2 204.3 1.05 0.249 2236 - - - - - - - - 14.46 14.38 14.09
17969 391.2 8.3 746 17971 done 0.69 - - 3136 - - - 2279 - 204.3 1.55 0.256 2236 - - - - - - - - 14.84 14.42 14.04
18305 363.1 8.4 752 18311 roll 0.69 - - 3146 - 2.50 0.061 862 -566.8 204.3 1.40 0.253 2238 - - - - - - - - 14.88 14.29 14.09
18332 360.8 8.4 756 18339 done 0.69 - - 3146 - 2.53 0.056 2283 561.7 204.3 1.15 0.254 2237 - - - - - - - - 14.47 14.39 14.04
18697 329.3 8.6 766 18703 roll 0.69 - - 3146 - 2.55 0.100 3659 539.6 204.3 1.77 0.278 2238 - - - - - - - - 14.88 14.18 13.75
18773 321.7 10.0 777 18781 done 0.69 0.10 0.210 3126 -200.0 2.38 0.039 2283 -578.2 204.3 1.27 0.230 2239 - - - - - - - - 14.16 14.48 14.11
19089 297.4 7.6 787 19101 roll 0.69 - - 3137 - 2.53 0.062 855 -564.4 207.7 4.72 1.578 2226 -2.8 0.102 - - - - - - 14.85 14.58 13.45
19116 295.2 7.6 791 19124 done 0.70 - - 3137 - 2.50 0.055 2277 568.8 210.4 4.35 1.564 2212 -3.2 0.119 - - - - - - 14.54 14.47 13.44
19474 266.5 8.1 800 19480 roll 0.70 - - 3137 - 2.55 0.103 3656 540.8 210.4 1.35 0.259 2214 - - - - - - - - 14.84 14.37 14.12
19530 261.4 9.4 808 19536 done 0.70 - - 3147 - 2.40 0.041 2273 -576.2 210.4 1.50 0.265 2213 - - - - - - - - 14.52 14.48 13.85
19866 233.1 8.5 821 19868 done 0.70 - - 3147 - - - 2269 - 210.4 1.60 0.268 2212 - - - - - - - - 14.84 14.39 13.88
20202 204.4 8.6 827 20208 roll 0.70 - - 3147 - 2.60 0.100 3654 532.7 210.4 1.52 0.262 2216 2.6 -0.402 - - - - - - 14.86 14.23 13.93
20229 201.7 9.7 831 20236 done 0.70 0.10 0.237 3124 -230.0 2.40 0.041 2275 -574.6 210.4 1.67 0.290 2214 - - - - - - - - 14.23 14.54 13.81
20594 173.7 7.6 841 20600 done 0.70 - - 3129 - - - 2273 - 213.8 4.80 1.488 2199 -3.1 0.071 - - - - - - 14.88 14.61 13.54
20930 149.3 7.2 847 20951 roll 0.71 - - 3124 - 2.62 0.101 3654 527.1 225.1 17.23 1.315 2148 -3.0 0.066 - - - - - - 14.86 14.50 13.94
20978 145.5 8.1 854 20986 done 0.71 - - 3133 - 2.40 0.039 2273 -575.4 225.1 - - 2144 - - - - - - - - 14.60 14.52 14.62
21322 118.9 7.6 861 21328 roll 0.72 - - 3133 - 2.62 0.101 3647 524.4 227.2 - - 2144 - - - - - - - - 14.82 14.31 14.82
21363 115.2 9.1 867 21369 done 0.72 - - 3143 - 2.38 0.039 2280 -574.4 227.2 - - 2144 - - - - - - - - 14.61 14.53 14.63
21686 91.8 6.8 876 21700 roll 0.74 - - 3143 - 2.58 0.097 3664 536.4 247.0 9.45 0.441 2067 -8.1 0.332 - - - - - - 14.83 14.41 14.09
21742 87.2 8.6 884 21747 done 0.74 - - 3153 - 2.38 0.039 2290 -577.3 247.0 - - 2073 - - - - - - - - 14.53 14.50 14.55
22078 69.8 5.0 899 22112 roll 0.91 0.05 0.200 3200 940.0 2.58 0.098 3672 535.7 302.1 27.60 0.389 1848 -8.2 0.286 - - - - - - 14.54 14.42 14.16
22224 60.3 6.8 920 22239 done 0.93 - - 3209 - 2.38 0.038 2295 -578.6 321.6 9.88 0.353 1771 -7.8 0.261 - - - - - - 14.60 14.53 14.09
22556 44.2 0.7 934 22630 roll 1.22 0.15 0.088 3311 680.0 2.50 0.063 862 -573.2 462.5 67.62 0.312 1208 -8.3 0.231 - - - - - - 14.52 14.42 14.18
22667 38.2 8.2 950 22672 done 1.22 - - 3311 - 2.50 0.054 2305 577.2 462.5 - - 1211 - - - - - - - - 14.53 14.40 14.55
23002 11.1 7.8 965 23008 roll 1.22 - - 3311 - 2.53 0.101 3654 533.2 462.5 - - 1208 - - - - - - - - 14.77 14.30 14.78
23029 8.6 8.9 969 23037 done 1.22 - - 3320 - 2.30 0.037 2308 -585.2 462.5 - - 1208 - - - - - - - - 14.52 14.47 14.53
23111 end climb: SURFACE_DEPTH_REACHED
23112 begin surface coast
23139 end surface coast: CONTROL_FINISHED_OK
23139 begin surface
SM -2.31 - - - - -8.38 9.25 0.079 194 21.0 0.85 0.081 2768 2044.7 500.14 17.38 0.163 1057 60.8 0.088 - - - - - -